CN109152944A - 康复训练装置 - Google Patents

康复训练装置 Download PDF

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Publication number
CN109152944A
CN109152944A CN201680085848.6A CN201680085848A CN109152944A CN 109152944 A CN109152944 A CN 109152944A CN 201680085848 A CN201680085848 A CN 201680085848A CN 109152944 A CN109152944 A CN 109152944A
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China
Prior art keywords
track
support base
driving portion
pinion gear
healing
Prior art date
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Granted
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CN201680085848.6A
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English (en)
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CN109152944B (zh
Inventor
卢星准
金贤洙
李洙彬
宋镐荣
潘聕营
崔龙根
章大勳
朴秉杰
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Naiao Feite Corp
Neofect Co Ltd
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Naiao Feite Corp
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Abstract

本发明涉及康复训练装置，其特征在于，包括：一对第一轨道，相互间隔距离且并列设置；第二轨道，与所述第一轨道构成直角，并且可移动地连接于所述一对第一轨道；手支撑座，可移动地设置在所述第二轨道，并且支撑使用者的手；支撑座驱动部，使所述手支撑座沿着所述第二轨道往返移动；以及轨道驱动部，使所述第二轨道沿着所述第一轨道进行往返移动。

Description

康复训练装置
技术领域
本发明涉及康复训练装置，更详细地说涉及能够康复训练手腕以及肩关节部位的康复训练装置。
背景技术
通常，人体的各个关节部位具有与关节部位相邻的部位以关节部位为基准可旋转的结构。
一方面，与健康人相比，老年人和肌肉力量弱的康复患者难以进行关节运动，并且即使实际需要运动，但是实情是以一般的运动器械运动实际上很难。
特别是，经历过诸如手腕或肩膀等关节手术的患者不能自己运动，因此肌肉变弱并且无法顺利供应营养，从而存在手腕和肩膀的关节僵硬的问题。
因此，为了防止关节变形恢复正常活动，应该进行长时间伴随疼痛的康复锻炼。
一方面，现有的康复训练装置大部分具有限制使用者的手腕和肩关节部位的关节角度以防止锻炼过度的程度的功能。
据此，近年来正在研究通过致动器改变关节角度的康复训练装置。
因此，本申请人已经开发了一种康复训练装置，能够在使用者手持的状态下康复训练手腕以及肩关节部位。
发明内容
(要解决的问题)
本发明是用于解决上述问题的，其目的在于提供如下的康复训练装置：根据使用者的特性沿着各种图形移动支撑手的手支撑座，可改变使用者的手腕以及肩关节部位的关节角度的同时进行康复训练。
另外，本发明另一目的在于提供如下的康复训练装置：使用者通过使用微小的肌肉力量以所希望的方向移动手支撑座，可改变用户的手腕和肩关节部位的关节角度的同时进行康复训练。
(解决问题的手段)
本发明的目的可通过如下的康复训练装置达成，包括：一对第一轨道，相互间隔距离且并列设置；第二轨道，与所述第一轨道构成直角，并且可移动地连接于所述一对第一轨道；手支撑座，可移动地设置在所述第二轨道，并且支撑使用者的手；支撑座驱动部，将所述手支撑座沿着所述第二轨道往返移动；以及轨道驱动部，将所述第二轨道沿着所述第一轨道进行往返移动。
在此，可包括控制部，所述控制部控制所述支撑座驱动部与所述轨道驱动部的驱动，以使所述手支撑座沿着由所述一对第一轨道与所述第二轨道构成的平面移动。
还包括图形识别部，所述图形识别部识别印刷图形的坐标数据，该印刷图形印刷在设置于由所述一对第一轨道与所述第二轨道构成的平面的印刷物；所述控制部可控制所述支撑座驱动部与所述轨道驱动部的驱动，以使所述手支撑座基于由所述图形识别部识别的印刷图形的坐标数据移动。
还包括存储器，所述存储器保存所述手支撑座待移动的移动图形的平面坐标数据以及移动速度数据；所述控制部优先于从所述图形识别部接收的印刷图形的坐标数据，可依据通过所述存储器接收的所述移动图形的坐标数据以及移动速度数据控制所述支撑座驱动部与所述轨道驱动部的驱动。
另外，还包括通信模块，所述通信模块从外部机器接收所述手支撑座待移动的移动图形的平面坐标数据以及移动速度数据；所述控制部优先于从所述图形识别部接收的印刷图形的坐标数据，可依据通过所述通信模块接收的所述移动图形的坐标数据以及移动速度数据控制所述支撑座驱动部与所述轨道驱动部的驱动。
所述支撑座驱动部可包括：支撑座用导轨，沿着所述第二轨道设置；支撑座用引导块，连接于所述手支撑座，沿着所述手支撑座用导轨往返移动；支撑座用齿条，沿着所述支撑座用导轨的长度方向形成多个齿轮齿；支撑座用小齿轮，啮合于所述支撑座用齿条进行旋转；支撑座用马达，给所述支撑座用小齿轮产生旋转力；支撑座用离合器，管束从所述支撑座用马达向所述支撑座用小齿轮传达的动力；以及支撑座用外壳，收容所述支撑座用小齿轮、所述支撑座用马达、所述支撑座用离合器，并支撑所述手支撑座。
另外，所述支撑座驱动部还可包括支撑座用动力传达部，所述支撑座用动力传达部设置在所述支撑座用马达与所述支撑座用小齿轮之间，向所述支撑座用小齿轮传达所述支撑座用马达的动力。
所述轨道驱动部可包括：轨道用导轨，沿着所述一对第一轨道中的任何一条轨道设置；轨道用引导块，连接所述第二轨道，并且沿着所述轨道用导轨往返移动；轨道用齿条，沿着所述轨道用导轨的长度方向形成多个齿条齿；
轨道用小齿轮，啮合于所述轨道用齿条进行旋转；轨道用马达，给所述轨道用小齿轮产生旋转力；轨道用离合器，管束从所述轨道用马达向所述轨道用小齿轮传达的动力；以及轨道用外壳，收容所述轨道用小齿轮、所述轨道用马达、所述轨道用离合器，并且支撑所述轨道用引导块。
所述轨道驱动部还可包括轨道用动力传达部，所述轨道用动力传达部设置在所述轨道用马达与所述轨道用小齿轮之间，向所述轨道用小齿轮传达所述轨道用马达的动力。
所述图形识别部可以是光学识别传感器或者光传感器。
(发明的效果)
通过本发明，根据使用者特性使支撑手的手支撑座沿着各种图形移动，从而可改变使用者手腕以及肩关节部位的关节角度的同时进行康复训练。另外，使用者利用微小的肌肉力量使手支撑座以所希望的方向移动，从而可改变使用者的手腕以及肩关节部位的关节角度的同时进行康复训练。
附图说明
图1是本发明一实施例的康复训练装置的立体图。
图2是图1的分解立体图。
图3是图1的支撑座驱动部的主要部分的扩大切割立体图。
图4是图3的支撑座驱动部的动力传达系统图。
图5是图1的轨道驱动部的主要部分的扩大切割立体图。
图6是图5的轨道驱动部的动力传达系统图。
具体实施方法
以下，参照附图详细说明本发明。
图1至图6示出本发明一实施例的康复训练装置。
如图所示，本发明一实施例的康复训练装置10包括：一对第一轨道11a、11b、第二轨道31、手支撑座35、支撑座驱动部41与轨道驱动部71。
一对第一轨道11a、11b分别具有预定长度的长条形状，并且相互间隔预定距离且并列设置。在第一轨道11a、11b的各个上部面沿着第一轨道11a、11b的长度方向贯通形成第一轨道用槽13。
在一对第一轨道11a、11b的各个另一端部设置有桌台固定器15，以用于在桌台安装本发明一实施例的康复训练装置10。
在一对第一轨道11a、11b的各个另一端部形成有结合铰链销21的铰链销结合槽17。各个铰链销21可旋转地结合于一对第一轨道11a、11b的各个铰链销结合槽17的同时结合于连接架23。由此，连接架23通过各个铰链销21与一对第一轨道11a、11b相互连接的同时对于一对第一轨道11a、11b可相对旋转地结合，以使一对第一轨道11a、11b相互接近或者间隔。
从而，本发明一实施例的康复训练装置是简便地展开一对第一轨道11a、11b与连接架23之后，能够使使用者进行手腕以及肩关节部位的康复训练，在康复训练之后简便地折叠一对第一轨道11a、11b与连接架23之后，不仅能够简便地携带移动，还可容易保管。
第二轨道31具有预定长度的长条形状，并且与第一轨道11a、11b成直角设置，并且可移动地连接于一对第一轨道11a、11b。在第二轨道31的上部面沿着第二轨道31的长度方向贯通形成第二轨道用槽33。
在此，一对第一轨道11a、11b以及第二轨道31分别沿着长度方向可伸缩地结合，例如以叠加安插的方式制造各个轨道11a、11b、31，也可延伸长度或者缩短长度的调节长度地进行设置。
手支撑座35可移动地设置在第二轨道31，并支撑使用者的手。手支撑座35还包括设置在上部一侧并且手握的手柄37。另外，手支撑座35还包括设置在下部并且支撑支撑座用引导块45的支撑架39。支撑架39被设置在第二轨道31一侧的待后述的支撑座用外壳67支撑。
支撑座驱动部41将手支撑座35沿着第二轨道31往返移动。如图3以及图4所示，支撑座驱动部41包括：支撑座用导件43，沿着第二轨道31设置；支撑座用引导块45，连接于手支撑座35，并且沿着支撑座用导件43往返移动；支撑座用齿条47，沿着支撑座用导件43的长度方向形成多个齿条齿；支撑座用小齿轮49，啮合于支撑座用齿条47进行旋转；支撑座用马达51，给支撑座用小齿轮49产生旋转力；支撑座用动力传达部，设置在支撑座用马达51与支撑座用小齿轮49之间，传达支撑座用马达51的动力；支撑座用离合器65，管束从支撑座用动力传达部向支撑座用小齿轮49传达的动力；支撑座用外壳67，支撑手支撑座35。
支撑座用导件43确保支撑座用引导块45的移动空间，并且收容并结合于第二轨道31的内部。
支撑座用引导块45可往返移动地结合于支撑座用导件43。支撑座用引导块45的一侧从第二轨道31的第二轨道用槽33凸出，并且被支撑在手支撑座35的支撑座39的底部。
支撑座用小齿轮49结合于支撑座用小齿轮侧50，并且支撑座用小齿轮50被支撑座用外壳67可旋转地支撑。
一方面，在本实施例中作为支撑座用动力传达部包括：支撑座用第一齿轮55，结合于支撑座用马达51的轴；支撑座用第二齿轮59，与支撑座用第一齿轮55啮合进行旋转，并且结合于支撑座用传动轴57；支撑座用第三齿轮61，与支撑座用第二齿轮59啮合进行旋转，并且结合于支撑座用离合器65的一端部；支撑座用第四齿轮63，与支撑座用第三齿轮61相互面对地结合于支撑座用离合器65的另一端部，在与支撑座用第三齿轮61之间放置有支撑座用离合器65，并且与支撑座用小齿轮49啮合进行旋转。
支撑座用外壳67具有可上下分离的结构，并且收容支撑座用马达51、支撑座用动力传达部、支撑座用离合器65，不使支撑座用马达51、支撑座用动力传达部、支撑座用离合器65暴露。另外，在支撑座用外壳67的一侧由未示出的结合工具支撑手支撑座35的支撑架39。
在此，虽未示出，但是作为另一实施例，支撑座驱动部41不具有支撑座用动力传达部，而是将支撑座用离合器65介入于支撑座用马达51与支撑座用小齿轮49之间，将支撑座用马达51的动力经过支撑座用离合器65传达或者也可不传达至支撑座用小齿轮49。
轨道驱动部71将第二轨道31沿着第一轨道11a、11b往返移动。
如图5以及图6所示，轨道驱动部71包括：轨道用导件73，沿着一侧第一轨道11a设置；轨道用引导快75，连接第二轨道31，并且沿着轨道用导件73往返移动；轨道用齿条77，沿着轨道用导件73的长度方向形成多个齿条齿；轨道用小齿轮79，啮合于轨道用齿条77进行旋转；轨道用马达81，使轨道用小齿轮79产生旋转力；轨道用动力传达部，设置在轨道用马达81与轨道用小齿轮79之间传达轨道用马达81的动力；轨道用离合器95，管束从轨道用动力传达部向轨道用小齿轮79传达的动力；轨道用外壳97，支撑轨道用引导块75。
轨道用导件73确保轨道用引导块75的移动空间，并且收容并结合于第一轨道11a的内部。
轨道用引导块75可往返移动地结合于轨道用导件73。轨道用引导块75的一侧从第一轨道11a的第一轨道用槽13凸出，被支撑在第二轨道31的底部。
轨道用小齿轮79结合于轨道用小齿轮轴80，并且轨道用小齿轮轴80可旋转地被轨道用外壳97支撑。
一方面，在本实施例中，作为轨道用动力传达部包括：轨道用第一齿轮85，结合于轨道用马达81的轴；轨道用第二齿轮89，与轨道用第一齿轮85啮合进行旋转，并且结合于轨道用传动轴87；轨道用第三齿轮91，与轨道用第二齿轮89啮合进行旋转，并且结合于轨道用离合器95的一端部；轨道用第四齿轮93，与轨道用第三齿轮91相互面对地结合于轨道用离合器95的另一端部，在与轨道用第三齿轮91之间放置轨道用离合器95，并且与轨道用小齿轮79啮合进行旋转。
轨道用外壳97具有可上下分离的结构，并且收容轨道用马达81、轨道用动力传达部、轨道用离合器95，不使轨道用马达81、轨道用动力传达部、轨道用离合器95暴露。另外，在轨道用外壳97的一侧通过未示出的结合工具支撑轨道用引导块75。
在此，虽未示出，但是作为另一实施例，轨道驱动部71不具有轨道用动力传达部，而是将轨道用离合器95介入于轨道用马达81与轨道用小齿轮79之间，将轨道用马达81的动力经过轨道用离合器95选择性地传达或者也可不传达至轨道用小齿轮79。
另外，本发明一实施例的康复训练装置10包括控制部101，该控制部101控制支撑座驱动部51与轨道驱动部71的驱动，以使手支撑座35沿着由一对第一轨道11a、11b与第二轨道31构成的平面移动。
控制部101被收容于支撑座用外壳67，控制支撑座用马达51以及轨道用马达81的旋转速度以及方向，以基于提前设定的图形的坐标数据以及移动速度数据沿着由一对第一轨道11a、11b与第二轨道31构成的平面改变手支撑座35的移动方向以及速度。例如，若控制101分别不同地控制支撑座用马达51与轨道用马达81的旋转速度，则手支撑座350进行直线移动、转弯移动或自由曲线移动。
在此，控制部101不收容于支撑座用外壳67，也可收容于轨道用外壳97。
一方面，未说明的附图标记99是结合第二轨道31与轨道用引导块75的紧固螺栓。另外，未说明的附图标记121是用于对本发明一实施例的康复训练装置10供应电源的电池。
通过上述结构，本发明一实施例的康复训练装置10也能够以自动模式运作，以通过支撑座驱动部41以及轨道驱动部71的各个马达51、81的驱动使患者的胳膊沿着特定的路径移动；以及也能够以手动模式移动，以通过使用者力量沿着特定的路径移动。
首先，如下说明以手动模式运作的情况。
使用者将手与胳膊放在手支撑座35，之后用力将手支撑座35沿着第一轨道11a、11b的设置方向以及第二轨道31的设置方向自由移动，例如使用者利用微小的肌肉力量以所希望的方向移送手支撑座35，从而改变使用者的手腕以及肩关节部位的关节角度的同时可进行康复训练。此时，支撑座驱动部41的支撑座用离合器65管束动力传达不使支撑座用马达51的动力传达至支撑座用小齿轮49。同时，轨道驱动部71的轨道用离合器95管束动力传达，不使轨道用马达81的动力传达至轨道用小齿轮79。
然后，如下说明自动模式运作的情况。
控制部101分别驱动支撑座驱动部41与轨道驱动部71，以使手支撑座35沿着由一对第一轨道11a、11b与第二轨道31构成的平面移动。
即，为使支撑座用马达51的动力传达至支撑座用小齿轮49，若通过控制部101的控制信号将支撑座用离合器65转换为动力传达状态并对支撑座用马达51施加电源正向旋转支撑座用马达51，则支撑座用马达51的动力传达至支撑座用第一齿轮55、支撑座用第二齿轮59、支撑座用第三齿轮61、支撑座用离合器65、支撑座用第四齿轮63、支撑座用小齿轮49。由此，支撑座用小齿轮49沿着支撑座用齿条47进行直线往返移动，同时支撑座用外壳67沿着第二轨道31往返移动，而连接于支撑座用外壳67与支撑座用引导块45的手支撑座35被支撑座用引导块43引导沿着第二轨道31往返移动。
同时，为使轨道用马达81的动力传达至轨道用小齿轮79，若通过控制部101的控制信号将轨道用离合器95转换为动力传达状态，并对轨道用马达81施加电源来正向旋转轨道用马达81，则轨道用马达81的动力传达至轨道用第一齿轮85、轨道用第二齿轮89、轨道用第三齿轮91、轨道用离合器95、轨道用第四齿轮93、轨道用小齿轮79。由此，轨道用小齿轮79沿着轨道用齿条77进行直线往返移动，同时轨道用外壳97沿着一侧第一轨道11a往返移动，而连接于轨道用外壳97的轨道用引导块45被轨道用导件73引导而沿着第一轨道11a进行往返移动。从而，被轨道用引导块75支撑的第二轨道31也沿着第一轨道11a、11b进行往返移动。
从而，放在手支撑座35的使用者的手在由一对第一轨道11a、11b与第二轨道31构成的平面上通过控制部101的控制信号沿着由一对第一轨道11a、11b与第二轨道31构成的平面移动的同时形成各种图形，进而改变使用者的手腕以及肩关节部位的关节角度的同时可进行康复训练。
在此，为使支撑座马达51的动力传达至支撑座用小齿轮49，控制部101将支撑座用离合器65转换为动力传达状态；为了不使轨道用马达81的动力传达至轨道用小齿轮79，控制部101将轨道用离合器95转换为切断动力传达状态，之后使手支撑座35只以第二轨道方向往返移动，从而也可对使用者的手腕以及肩关节部位进行康复训练。
一方面，本发明一实施例的康复训练装置10还可包括图形识别部105，该图形识别部105设置在手支撑座35，识别印刷图形的坐标数据，该印刷图形印刷在设置于由一对第一轨道11a、11b与所述第二轨31道构成的平面的印刷物。图形识别部105可以是光学识别传感器或者光传感器。在本实施例中，示出图形识别部105设置在支撑座用外壳67，但是不限于此，图形识别部105也可设置在第二轨道31。
如上所述，在设置图形识别部105的情况下，控制部101可控制支撑座驱动部41与轨道驱动部71的驱动，以使手支撑座35基于由图形识别部105识别的印刷图形的坐标数据移动。
另外，本发明一实施例的康复训练装置10还可包括存储器111，该存储器111设置在手支撑座用外壳67，保存手支撑座35待移动的移动图形的平面坐标数据以及移动速度数据。
如上所述，在设置存储器111的情况下，控制部101优先于从图形识别部105接收的印刷图形的坐标数据，依据通过存储器111接收的移动图形的坐标数据以及移动速度数据可控制支撑座驱动部41与轨道驱动部71的驱动。
即，存储器111将保存在存储器111的手支撑座35待移动的图形的平面坐标数据以及移动速度数据提供于控制部101。
控制部101依据通过存储器111提供的移动图形的坐标数据以及移动速度数据控制手支撑座用马达51与轨道用马达81的旋转速度以及方向，从而控制手支撑座35的移动。
如上所述，通过具备存储器111，根据使用者特性通过存储器111选择接收移动图形，从而使用者将手放在手支撑座35的状态下依据保存在存储器111的移动图形的坐标数据以及移动速度数据，以提前设定的方向改变关节部位的关节角度的同时可进行康复训练。
另外，本发明一实施例的康复训练装置10还可包括通信模块115，该通信模块115设置在支撑座用外壳67，并且从外部机器接收手支撑座35待移动的移动图形的平面坐标数据以及移动速度数据。
如上所述，在具备通信模块115的情况下，控制部101优先于从识别部105接收的印刷图形的坐标数据，依据通过通信模块115接收的移动图形的坐标数据以及移动速度数据可控制支撑座驱动部41与轨道驱动部71的驱动。
即，控制部101依据通过通信模块115提供的移动图形的坐标数据以及移动速度数据控制支撑座用马达51与轨道用马达81的旋转速度以及方向，从而控制手支撑座35的移动。
如上所述，通过设置通信模块115，从外部机器通过通信模块115向控制部101发送按照使用者特性的移动图形的控制信号，从而在使用者将手放在手支撑座35的状态下依据通过通信模块115接收的移动图形的坐标数据以及移动速度数据，能够以各种方向改变关节部位的关节角度的同时进行康复训练。
在此，在设置通信模块115的情况下，优先于从图形识别部105接收的印刷图形的坐标数据以及移动速度数据或者通过存储器111提供的移动图形的坐标数据以及移动速度数据，控制部101可根据通过通信模块115接收的移动图形的坐标数据以及移动速度数据控制支撑座驱动部41与轨道驱动部71的驱动。
如上所述，通过本发明，在相互间隔距离且并列设置的一对第一轨道可移动地设置第二轨道，之后使支撑使用者的手的手支撑座沿着第二轨道往返移动，同时使第二轨道沿着第一轨道往返移动，进而根据使用者的特性沿着各种图形移动手支撑座，从而可改变使用者的手腕以及肩关节部位的关节角度的同时进行康复训练。

Claims (10)

1.一种康复训练装置，其特征在于，包括：
一对第一轨道，相互间隔距离且并列设置；
第二轨道，与所述第一轨道构成直角，并且可移动地连接于所述一对第一轨道；
手支撑座，可移动地设置在所述第二轨道，并且支撑使用者的手；
支撑座驱动部，将所述手支撑座沿着所述第二轨道往返移动；以及
轨道驱动部，将所述第二轨道沿着所述第一轨道进行往返移动。
2.根据权利要求1所述的康复训练装置，其特征在于，包括：
控制部，控制所述支撑座驱动部与所述轨道驱动部的驱动，以使所述手支撑座沿着由所述一对第一轨道与所述第二轨道构成的平面移动。
3.根据权利要求2所述的康复训练装置，其特征在于，还包括：
图形识别部，识别印刷图形的坐标数据，该印刷图形印刷在设置于由所述一对第一轨道与所述第二轨道构成的平面的印刷物；
所述控制部控制所述支撑座驱动部与所述轨道驱动部的驱动，以使所述手支撑座基于由所述图形识别部识别的印刷图形的坐标数据移动。
4.根据权利要求3所述的康复训练装置，其特征在于，还包括：
存储器，保存所述手支撑座待移动的移动图形的平面坐标数据以及移动速度数据；
所述控制部优先于从所述图形识别部接收的印刷图形的坐标数据，依据通过所述存储器接收的所述移动图形的坐标数据以及移动速度数据，控制所述支撑座驱动部与所述轨道驱动部的驱动。
5.根据权利要求3所述的康复训练装置，其特征在于，还包括：
通信模块，从外部机器接收所述手支撑座待移动的移动图形的平面坐标数据以及移动速度数据；
所述控制部优先于从所述图形识别部接收的印刷图形的坐标数据，依据通过所述通信模块接收的所述移动图形的坐标数据以及移动速度数据，控制所述支撑座驱动部与所述轨道驱动部的驱动。
6.根据权利要求1所述的康复训练装置，其特征在于，
所述支撑座驱动部包括：
支撑座用导轨，沿着所述第二轨道设置；
支撑座用引导块，连接于所述手支撑座，沿着所述支撑座用导轨往返移动；
支撑座用齿条，沿着所述支撑座用导轨的长度方向形成多个齿轮齿；
支撑座用小齿轮，啮合于所述支撑座用齿条进行旋转；
支撑座用马达，给所述支撑座用小齿轮产生旋转力；
支撑座用离合器，管束从所述支撑座用马达向所述支撑座用小齿轮传达的动力；以及
支撑座用外壳，收容所述支撑座用小齿轮、所述支撑座用马达、所述支撑座用离合器，并支撑所述手支撑座。
7.根据权利要求6所述的康复训练装置，其特征在于，
所述支撑座驱动部还包括：
支撑座用动力传达部，设置在所述支撑座用马达与所述支撑座用小齿轮之间，向所述支撑座用小齿轮传达所述支撑座用马达的动力。
8.根据权利要求1所述的康复训练装置，其特征在于，
所述轨道驱动部包括：
轨道用导轨，沿着所述一对第一轨道中的任何一条轨道设置；
轨道用引导块，连接所述第二轨道，并且沿着所述轨道用导轨往返移动；
轨道用齿条，沿着所述轨道用导轨的长度方向形成多个齿条齿；
轨道用小齿轮，啮合于所述轨道用齿条进行旋转；
轨道用马达，给所述轨道用小齿轮产生旋转力；
轨道用离合器，管束从所述轨道用马达向所述轨道用小齿轮传达的动力；以及
轨道用外壳，收容所述轨道用小齿轮、所述轨道用马达、所述轨道用离合器，并且支撑所述轨道用引导块。
9.根据权利要求8所述的康复训练装置，其特征在于，
所述轨道驱动部还包括：
轨道用动力传达部，设置在所述轨道用马达与所述轨道用小齿轮之间，向所述轨道用小齿轮传达所述轨道用马达的动力。
10.根据权利要求3所述的康复训练装置，其特征在于，
所述图形识别部是光学识别传感器或者光传感器。
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